www.pudn.com > ekfcode.zip > run_obs.m

% this is an example run of the vehicle state filter 
 
% initialise global values 
 
globals; 
ginit; 
 
% first get all observations  
disp('Beginning observation simulations'); 
obs=obs_seq(xtrue,beacons); 
disp('Completed Simulation'); 
 
% place observations in a global coordinate system 
[obs_p, state_p]=p_obs(obs,xtrue); 
figure(PLAN_FIG); 
hold on 
plot(obs_p(1,:),obs_p(2,:),'rx'); 
% plot(state_p(1,:),state_p(2,:),'r+'); 
hold off